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+05/11 20:06:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 20:06:55 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 20:06:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 20:06:55 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
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+ 'end_on_success': False,
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+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
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+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
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+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
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+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
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+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                        0.0],
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+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
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+ 'scene_dataset': 'ithor_minimal_fridge_m',
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+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
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+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
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+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 20:06:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 20:06:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 20:06:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 20:06:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 20:06:55 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 20:06:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 20:06:55 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70a2ae12f510>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30801,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 20:06:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 20:06:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 20:06:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 20:06:56 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 20:06:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 20:06:56 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 20:06:56 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x75d411e4db10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30804,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 20:06:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 20:06:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 20:06:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 20:06:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 20:06:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 20:06:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 20:06:57 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 20:06:57 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 20:06:57 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 20:06:57 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7392173e5690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30803,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 20:06:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 20:06:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 20:06:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 20:06:57 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 20:06:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 20:06:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 20:06:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 20:06:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 20:06:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 20:06:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 20:06:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 20:06:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 20:06:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022350m	[env.py: 870]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:06:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:06:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 20:06:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 20:06:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 20:06:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:06:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055135m	[env.py: 870]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:06:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 20:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095859m	[env.py: 870]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:06:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94449854  0.5221106   0.02234972] yaw=-171.1deg	[env.py: 1019]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8343505   0.53631673  0.02234972] yaw=-182.1deg	[env.py: 1019]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86915874  0.28478311  0.09585876] yaw=162.1deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76748582  0.00424277  0.09585876] yaw=144.5deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80977437  0.49232627  0.05513498] yaw=-170.1deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.7ms, retries=412.5ms, total=427.2ms	[env.py: 1075]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.522, 0.022)	[env.py: 1079]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.1 deg	[env.py: 1082]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95870828  0.10050045  0.09585876] yaw=150.2deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=48.3ms, retries=367.9ms, total=416.1ms	[env.py: 1075]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.285, 0.096)	[env.py: 1079]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77412256  0.5771435   0.05513498] yaw=-167.9deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00382221  0.90166049  0.05513498] yaw=-137.7deg	[env.py: 1019]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=36.2ms, retries=474.0ms, total=510.2ms	[env.py: 1075]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.492, 0.055)	[env.py: 1079]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
+05/11 20:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:06:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:06:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:06:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:06:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:06:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:07:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 20:07:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 20:07:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 20:07:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 20:07:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:07:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048735m	[env.py: 870]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:07:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0280104   1.07047824  0.04873472] yaw=-131.7deg	[env.py: 1019]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92477636  0.19249849  0.04873472] yaw=170.2deg	[env.py: 1019]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77245836  0.88009497  0.04873472] yaw=-149.8deg	[env.py: 1019]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.9ms, retries=434.4ms, total=449.3ms	[env.py: 1075]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.070, 0.049)	[env.py: 1079]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
+05/11 20:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:07:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:07:00 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:07:26 INFO: [Worker 0] Warmed up parallel IK solver in 27.378s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:07:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:07:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:07:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:07:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 81.075[deg]	[grasp_sample.py: 539]
+05/11 20:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:07:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:07:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 30.631s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:07:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:07:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 31.139s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:07:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:07:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:07:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:07:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.305[m] 82.923[deg]	[grasp_sample.py: 539]
+05/11 20:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:07:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:07:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:31 INFO: [Worker 0] Warmed up parallel IK solver in 30.387s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:07:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:07:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:07:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:07:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:07:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 87.035[deg]	[grasp_sample.py: 539]
+05/11 20:07:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:07:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:07:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:07:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:07:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 86.135[deg]	[grasp_sample.py: 539]
+05/11 20:07:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:07:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:07:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:07:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:08:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:08:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:08:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:09:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.399[deg]	[grasp_sample.py: 539]
+05/11 20:09:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030400m	[env.py: 870]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.895187    0.87143886  0.03040024] yaw=-147.8deg	[env.py: 1019]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90285174  0.40692574  0.03040024] yaw=164.0deg	[env.py: 1019]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12578127  1.06148409  0.03040024] yaw=-141.2deg	[env.py: 1019]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms	[env.py: 1075]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.871, 0.030)	[env.py: 1079]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg	[env.py: 1082]
+05/11 20:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:09:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 88.623[deg]	[grasp_sample.py: 539]
+05/11 20:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:09:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:09:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:43 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:09:43 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:09:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.391[deg]	[grasp_sample.py: 539]
+05/11 20:09:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:46 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:09:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:09:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:09:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:09:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098746m	[env.py: 870]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:09:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67182018  0.65880729  0.09874648] yaw=-175.5deg	[env.py: 1019]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93741848  0.0958514   0.09874648] yaw=157.4deg	[env.py: 1019]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:09:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=318.8ms, total=318.8ms	[env.py: 1075]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.659, 0.099)	[env.py: 1079]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
+05/11 20:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:09:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:09:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:09:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:09:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 99.731[deg]	[grasp_sample.py: 539]
+05/11 20:09:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:09:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:09:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:09:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:09:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:10:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:10:05 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/11 20:10:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:10:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:10:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:10:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.73s (batch: 3.47s, save: 8.26s)	[pipeline.py: 300]
+05/11 20:10:17 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.93s:
+  episode_total: mean=202.16s, total=202.16s, count=1, min=202157.2ms, max=202157.2ms
+  sensor_polling: mean=422.2ms, total=118.63s, count=281, min=328.7ms, max=607.3ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8258.8ms, max=8258.8ms
+  physics_step: mean=22.8ms, total=6.40s, count=281, min=15.1ms, max=31.0ms
+  task_sampling: mean=3.93s, total=3.93s, count=1, min=3929.4ms, max=3929.4ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3469.7ms, max=3469.7ms
+  scene_load: mean=3.19s, total=3.19s, count=1, min=3187.9ms, max=3187.9ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1863.2ms, max=1863.2ms
+  scene_compile: mean=1.19s, total=1.19s, count=1, min=1192.5ms, max=1192.5ms
+  task_specific_sample: mean=738.2ms, total=738.2ms, count=1, min=738.2ms, max=738.2ms
+  compile_mujoco: mean=595.7ms, total=595.7ms, count=1, min=595.7ms, max=595.7ms
+  compile_xml_load: mean=517.0ms, total=517.0ms, count=1, min=517.0ms, max=517.0ms
+  scene_init: mean=78.7ms, total=78.7ms, count=1, min=78.7ms, max=78.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  compile_aux_policy_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=27.6ms, total=27.6ms, count=1, min=27.6ms, max=27.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  scene_randomize: mean=980.3us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=345.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002571m	[env.py: 870]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8081651   0.27964183  0.00257064] yaw=170.2deg	[env.py: 1019]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9109107   0.51181133  0.00257064] yaw=-170.6deg	[env.py: 1019]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=301.8ms, total=301.9ms	[env.py: 1075]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.280, 0.003)	[env.py: 1079]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/11 20:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:10:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:10:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:10:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:10:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.43s (batch: 4.30s, save: 9.13s)	[pipeline.py: 300]
+05/11 20:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 94.566[deg]	[grasp_sample.py: 539]
+05/11 20:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:10:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s:
+  episode_total: mean=204.67s, total=204.67s, count=1, min=204667.9ms, max=204667.9ms
+  sensor_polling: mean=405.8ms, total=121.75s, count=300, min=312.3ms, max=584.6ms
+  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9127.6ms, max=9127.6ms
+  physics_step: mean=20.7ms, total=6.22s, count=300, min=13.5ms, max=28.8ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4298.1ms, max=4298.1ms
+  task_sampling: mean=3.86s, total=3.86s, count=1, min=3859.9ms, max=3859.9ms
+  scene_load: mean=3.10s, total=3.10s, count=1, min=3096.2ms, max=3096.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.4ms, max=1881.4ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1037.8ms, max=1037.8ms
+  task_specific_sample: mean=760.5ms, total=760.5ms, count=1, min=760.5ms, max=760.5ms
+  compile_mujoco: mean=595.9ms, total=595.9ms, count=1, min=595.9ms, max=595.9ms
+  compile_xml_load: mean=361.9ms, total=361.9ms, count=1, min=361.9ms, max=361.9ms
+  scene_init: mean=129.5ms, total=129.5ms, count=1, min=129.5ms, max=129.5ms
+  scene_asset_install: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms
+  compile_robot_add: mean=28.1ms, total=28.1ms, count=1, min=28.1ms, max=28.1ms
+  asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=516.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:10:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:10:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:10:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:10:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:10:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:10:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017971m	[env.py: 870]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:10:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91114032  0.90135289  0.01797073] yaw=-141.2deg	[env.py: 1019]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77890693  0.16432312  0.01797073] yaw=161.5deg	[env.py: 1019]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82869779  0.03951981  0.01797073] yaw=159.5deg	[env.py: 1019]
+05/11 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.3ms, total=177.3ms	[env.py: 1075]
+05/11 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.901, 0.018)	[env.py: 1079]
+05/11 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
+05/11 20:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:10:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:10:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:10:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 81.971[deg]	[grasp_sample.py: 539]
+05/11 20:10:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:10:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:10:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:10:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:10:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:11:06 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:11:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:11:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:29 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:11:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:11:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:11:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:11:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:11:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.81s (batch: 3.92s, save: 9.89s)	[pipeline.py: 300]
+05/11 20:11:44 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.84s:
+  episode_total: mean=143.33s, total=286.65s, count=2, min=128508.1ms, max=158142.3ms
+  sensor_polling: mean=375.0ms, total=187.87s, count=501, min=294.6ms, max=697.2ms
+  physics_step: mean=21.8ms, total=10.90s, count=501, min=17.0ms, max=48.4ms
+  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9891.5ms, max=9891.5ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3919.5ms, max=3919.5ms
+  task_sampling: mean=1.92s, total=3.84s, count=2, min=393.6ms, max=3442.1ms
+  scene_load: mean=2.72s, total=2.72s, count=1, min=2716.9ms, max=2716.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.7ms, max=1777.7ms
+  task_specific_sample: mean=556.6ms, total=1.11s, count=2, min=391.1ms, max=722.1ms
+  scene_compile: mean=789.9ms, total=789.9ms, count=1, min=789.9ms, max=789.9ms
+  compile_mujoco: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  compile_xml_load: mean=169.2ms, total=169.2ms, count=1, min=169.2ms, max=169.2ms
+  scene_init: mean=100.0ms, total=100.0ms, count=1, min=100.0ms, max=100.0ms
+  compile_aux_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  compile_aux_policy_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms
+  asset_install_objects: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=459.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=44.0us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:11:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:11:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:11:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:11:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:11:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044405m	[env.py: 870]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:11:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15145595  1.06948041  0.04440475] yaw=-135.2deg	[env.py: 1019]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94468905  0.81768035  0.04440475] yaw=-157.9deg	[env.py: 1019]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74550715  0.31936469  0.04440475] yaw=161.9deg	[env.py: 1019]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:11:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=391.9ms, total=392.0ms	[env.py: 1075]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.069, 0.044)	[env.py: 1079]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg	[env.py: 1082]
+05/11 20:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:11:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:11:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:11:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:11:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:11:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 80.881[deg]	[grasp_sample.py: 539]
+05/11 20:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:11:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:11:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:58 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:12:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:12:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:12:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:12:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:12:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:32 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:12:32 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 17.12s (batch: 6.60s, save: 10.52s)	[pipeline.py: 300]
+05/11 20:12:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.80s:
+  episode_total: mean=170.23s, total=340.45s, count=2, min=169303.5ms, max=171149.2ms
+  sensor_polling: mean=398.0ms, total=234.45s, count=589, min=292.1ms, max=651.4ms
+  physics_step: mean=22.1ms, total=13.04s, count=589, min=13.1ms, max=60.1ms
+  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10522.9ms, max=10522.9ms
+  save_batch_prep: mean=6.60s, total=6.60s, count=1, min=6600.8ms, max=6600.8ms
+  task_sampling: mean=1.90s, total=3.80s, count=2, min=513.5ms, max=3289.4ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2560.2ms, max=2560.2ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1674.4ms, max=1674.4ms
+  task_specific_sample: mean=618.9ms, total=1.24s, count=2, min=511.1ms, max=726.8ms
+  scene_compile: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
+  compile_mujoco: mean=557.1ms, total=557.1ms, count=1, min=557.1ms, max=557.1ms
+  compile_xml_load: mean=148.7ms, total=148.7ms, count=1, min=148.7ms, max=148.7ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms
+  compile_aux_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  compile_aux_policy_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.0ms, total=2.1ms, count=2, min=0.9ms, max=1.1ms
+  mj_forward_sync: mean=362.2us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=40.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:12:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:12:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:12:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:12:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:12:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:12:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:12:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015318m	[env.py: 870]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:12:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81477083  0.27227697  0.01531839] yaw=172.7deg	[env.py: 1019]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87216127  0.48203852  0.01531839] yaw=-175.9deg	[env.py: 1019]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73640987  0.21382819  0.01531839] yaw=154.2deg	[env.py: 1019]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:12:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=176.5ms, total=176.6ms	[env.py: 1075]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.272, 0.015)	[env.py: 1079]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/11 20:12:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:12:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:12:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:12:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:12:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:12:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:12:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:12:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:12:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 97.537[deg]	[grasp_sample.py: 539]
+05/11 20:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:12:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:12:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:12:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:12:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:12:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:12:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:12:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:12:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:13:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:13:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:13:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.66s (batch: 3.79s, save: 8.87s)	[pipeline.py: 300]
+05/11 20:13:08 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.53s:
+  episode_total: mean=169.04s, total=169.04s, count=1, min=169040.3ms, max=169040.3ms
+  sensor_polling: mean=406.0ms, total=121.81s, count=300, min=320.5ms, max=625.0ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.0ms, max=8874.0ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.1ms, max=49.6ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.2ms, max=3785.2ms
+  task_sampling: mean=527.4ms, total=527.4ms, count=1, min=527.4ms, max=527.4ms
+  task_specific_sample: mean=523.6ms, total=523.6ms, count=1, min=523.6ms, max=523.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=443.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:13:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:13:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:13:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.67s (batch: 4.90s, save: 10.77s)	[pipeline.py: 300]
+05/11 20:13:09 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=167.26s, total=167.26s, count=1, min=167255.9ms, max=167255.9ms
+  sensor_polling: mean=403.1ms, total=120.92s, count=300, min=281.6ms, max=645.9ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10769.6ms, max=10769.6ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=15.3ms, max=26.9ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4901.5ms, max=4901.5ms
+  task_sampling: mean=422.4ms, total=422.4ms, count=1, min=422.4ms, max=422.4ms
+  task_specific_sample: mean=418.9ms, total=418.9ms, count=1, min=418.9ms, max=418.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=351.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:13:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:13:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:13:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:13:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009886m	[env.py: 870]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:13:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75855357  0.22665518  0.00988637] yaw=159.8deg	[env.py: 1019]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78795312  0.42125558  0.00988637] yaw=167.4deg	[env.py: 1019]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91741853  0.25458861  0.00988637] yaw=154.3deg	[env.py: 1019]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms	[env.py: 1075]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.227, 0.010)	[env.py: 1079]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg	[env.py: 1082]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:13:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.519[m] 89.473[deg]	[grasp_sample.py: 539]
+05/11 20:13:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:13:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:13:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:13:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:13:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072750m	[env.py: 870]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:13:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:13:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:13:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04075056  0.97820659  0.07275033] yaw=-148.4deg	[env.py: 1019]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05343508  0.90353642  0.07275033] yaw=-154.6deg	[env.py: 1019]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09341337  1.08813027  0.07275033] yaw=-137.1deg	[env.py: 1019]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms	[env.py: 1075]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.978, 0.073)	[env.py: 1079]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg	[env.py: 1082]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:13:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:13:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:13:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.421[m] 86.682[deg]	[grasp_sample.py: 539]
+05/11 20:13:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:13:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:13:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.127s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.296[deg]	[grasp_sample.py: 539]
+05/11 20:13:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:13:35 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:13:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:13:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:13:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037284m	[env.py: 870]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:13:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96616025  1.24101186  0.03728402] yaw=-130.8deg	[env.py: 1019]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62942615  0.60345556  0.03728402] yaw=-174.2deg	[env.py: 1019]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.5ms, total=182.6ms	[env.py: 1075]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.241, 0.037)	[env.py: 1079]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/11 20:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:13:38 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:13:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.171s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:41 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.641[m] 86.878[deg]	[grasp_sample.py: 539]
+05/11 20:13:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:13:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:13:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:13:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:14:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:14:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:14:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:14:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.961[deg]	[grasp_sample.py: 539]
+05/11 20:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027131m	[env.py: 870]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89496292  0.10302242  0.02713137] yaw=153.6deg	[env.py: 1019]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83576948  0.46218839  0.02713137] yaw=167.9deg	[env.py: 1019]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17817015  1.11598363  0.02713137] yaw=-139.8deg	[env.py: 1019]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=362.2ms, total=362.2ms	[env.py: 1075]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.103, 0.027)	[env.py: 1079]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.6 deg	[env.py: 1082]
+05/11 20:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:14:51 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:14:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.302s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.475[m] 98.812[deg]	[grasp_sample.py: 539]
+05/11 20:14:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:14:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:14:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:15:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:15:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:15:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 5.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 1.511[m] 125.101[deg]	[grasp_sample.py: 539]
+05/11 20:15:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:15:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:15:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:15:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:15:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:25 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:15:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 14.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:29 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 1.513[m] 150.612[deg]	[grasp_sample.py: 539]
+05/11 20:15:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:15:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:15:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:31 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:15:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:15:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:15:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:15:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:15:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:15:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:15:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:15:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:16:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:16:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:16:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.89s (batch: 3.70s, save: 9.20s)	[pipeline.py: 300]
+05/11 20:16:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
+  episode_total: mean=170.45s, total=170.45s, count=1, min=170448.0ms, max=170448.0ms
+  sensor_polling: mean=400.0ms, total=119.99s, count=300, min=308.3ms, max=647.9ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9198.3ms, max=9198.3ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.6ms, max=26.9ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.9ms, max=3695.9ms
+  task_sampling: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
+  task_specific_sample: mean=462.1ms, total=462.1ms, count=1, min=462.1ms, max=462.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=408.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:16:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:16:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:16:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:16:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:16:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:16:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053960m	[env.py: 870]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:16:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85311009  0.71262642  0.0539601 ] yaw=-175.2deg	[env.py: 1019]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71614985  0.04443173  0.0539601 ] yaw=163.5deg	[env.py: 1019]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95240036  1.13997187  0.0539601 ] yaw=-136.5deg	[env.py: 1019]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=188.9ms	[env.py: 1075]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.713, 0.054)	[env.py: 1079]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/11 20:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:16:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:16:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.411[m] 81.686[deg]	[grasp_sample.py: 539]
+05/11 20:16:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:16:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:16:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:16:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:16:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.09s (batch: 4.80s, save: 10.29s)	[pipeline.py: 300]
+05/11 20:16:08 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.29s:
+  episode_total: mean=179.51s, total=179.51s, count=1, min=179513.9ms, max=179513.9ms
+  sensor_polling: mean=401.8ms, total=120.54s, count=300, min=315.9ms, max=638.7ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10286.6ms, max=10286.6ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=13.2ms, max=30.1ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4798.7ms, max=4798.7ms
+  task_sampling: mean=292.7ms, total=292.7ms, count=1, min=292.7ms, max=292.7ms
+  task_specific_sample: mean=288.7ms, total=288.7ms, count=1, min=288.7ms, max=288.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=525.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:16:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:16:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:16:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:16:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:16:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:16:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032236m	[env.py: 870]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:16:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81905449  0.47787057  0.03223568] yaw=176.8deg	[env.py: 1019]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87526786  0.06141886  0.03223568] yaw=153.1deg	[env.py: 1019]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64288757  0.40717741  0.03223568] yaw=167.0deg	[env.py: 1019]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms	[env.py: 1075]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.478, 0.032)	[env.py: 1079]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
+05/11 20:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:16:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:16:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:16:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:16:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.419[m] 90.903[deg]	[grasp_sample.py: 539]
+05/11 20:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:16:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:16:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:16:15 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:16:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:16:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:16:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:16:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:16:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 17.19s (batch: 6.96s, save: 10.23s)	[pipeline.py: 300]
+05/11 20:16:33 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.15s:
+  episode_total: mean=142.88s, total=285.77s, count=2, min=110008.0ms, max=175759.6ms
+  sensor_polling: mean=337.2ms, total=185.48s, count=550, min=279.4ms, max=660.9ms
+  physics_step: mean=19.7ms, total=10.83s, count=550, min=14.0ms, max=57.5ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10228.9ms, max=10228.9ms
+  save_batch_prep: mean=6.96s, total=6.96s, count=1, min=6956.9ms, max=6956.9ms
+  task_sampling: mean=573.5ms, total=1.15s, count=2, min=413.8ms, max=733.3ms
+  task_specific_sample: mean=565.2ms, total=1.13s, count=2, min=401.0ms, max=729.4ms
+  scene_randomize: mean=2.9ms, total=5.7ms, count=2, min=2.2ms, max=3.5ms
+  mj_forward_sync: mean=394.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:16:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:16:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:16:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:16:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:16:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:16:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011337m	[env.py: 870]
+05/11 20:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:16:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85972026  1.18106081  0.01133716] yaw=-143.7deg	[env.py: 1019]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98866453  0.72952924  0.01133716] yaw=-170.1deg	[env.py: 1019]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74013819  0.74246756  0.01133716] yaw=-160.8deg	[env.py: 1019]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.2ms	[env.py: 1075]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 1.181, 0.011)	[env.py: 1079]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg	[env.py: 1082]
+05/11 20:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/11 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:16:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:16:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:16:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.210s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:16:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:16:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:16:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014667m	[env.py: 870]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89458523  0.26397529  0.01466747] yaw=161.8deg	[env.py: 1019]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92471804  0.06903736  0.01466747] yaw=163.4deg	[env.py: 1019]
+05/11 20:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.0ms, total=178.0ms	[env.py: 1075]
+05/11 20:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.264, 0.015)	[env.py: 1079]
+05/11 20:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg	[env.py: 1082]
+05/11 20:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/11 20:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:16:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:16:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.368[m] 83.546[deg]	[grasp_sample.py: 539]
+05/11 20:16:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:16:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:16:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:16:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:16:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:16:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:16:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:16:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.149[deg]	[grasp_sample.py: 539]
+05/11 20:16:56 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:16:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:16:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:16:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005271m	[env.py: 870]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92022295  0.73618254  0.00527123] yaw=-150.9deg	[env.py: 1019]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9807749   0.20892917  0.00527123] yaw=156.1deg	[env.py: 1019]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04733976  1.06997466  0.00527123] yaw=-141.4deg	[env.py: 1019]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:16:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.3ms, total=218.4ms	[env.py: 1075]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.736, 0.005)	[env.py: 1079]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
+05/11 20:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:16:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:16:58 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:16:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:16:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:16:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:16:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:16:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.424[m] 93.479[deg]	[grasp_sample.py: 539]
+05/11 20:16:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:17:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:17:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:17:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:17:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:17:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:18:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:18:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:18:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.821[deg]	[grasp_sample.py: 539]
+05/11 20:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:18:16 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:18:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:18:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:18:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:18:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:18:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:18:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.61s (batch: 3.70s, save: 9.92s)	[pipeline.py: 300]
+05/11 20:18:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
+  episode_total: mean=152.91s, total=152.91s, count=1, min=152910.6ms, max=152910.6ms
+  sensor_polling: mean=357.8ms, total=107.34s, count=300, min=286.8ms, max=613.2ms
+  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9915.7ms, max=9915.7ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.0ms, max=59.2ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.5ms, max=3695.5ms
+  task_sampling: mean=415.9ms, total=415.9ms, count=1, min=415.9ms, max=415.9ms
+  task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=395.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:18:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040914m	[env.py: 870]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68671498  0.41194338  0.04091443] yaw=174.9deg	[env.py: 1019]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69975005  0.88060439  0.04091443] yaw=-156.2deg	[env.py: 1019]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84648032  0.7885142   0.04091443] yaw=-150.3deg	[env.py: 1019]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.6ms	[env.py: 1075]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.412, 0.041)	[env.py: 1079]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/11 20:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:18:37 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:18:37 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:18:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:18:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:18:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 82.112[deg]	[grasp_sample.py: 539]
+05/11 20:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:18:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:18:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:18:39 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:18:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:18:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:18:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.13s (batch: 4.07s, save: 9.06s)	[pipeline.py: 300]
+05/11 20:18:51 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.41s:
+  episode_total: mean=159.21s, total=159.21s, count=1, min=159210.9ms, max=159210.9ms
+  sensor_polling: mean=380.2ms, total=114.05s, count=300, min=295.7ms, max=617.6ms
+  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9057.5ms, max=9057.5ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.9ms, max=56.2ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4072.8ms, max=4072.8ms
+  task_sampling: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
+  task_specific_sample: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=481.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=64.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:18:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:18:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:18:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:18:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085266m	[env.py: 870]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:18:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84812756  0.80356762  0.08526587] yaw=-160.2deg	[env.py: 1019]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78517514  0.10226671  0.08526587] yaw=157.4deg	[env.py: 1019]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80644008  0.13642335  0.08526587] yaw=151.3deg	[env.py: 1019]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.0ms, total=122.1ms	[env.py: 1075]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.804, 0.085)	[env.py: 1079]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/11 20:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:18:52 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:18:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:18:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:18:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 78.466[deg]	[grasp_sample.py: 539]
+05/11 20:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:18:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:18:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:54 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:19:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:19:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:19:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:19:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:19:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.93s (batch: 4.39s, save: 9.54s)	[pipeline.py: 300]
+05/11 20:19:15 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.90s:
+  episode_total: mean=78.86s, total=157.73s, count=2, min=2896.2ms, max=154831.3ms
+  sensor_polling: mean=326.8ms, total=98.03s, count=300, min=295.3ms, max=737.1ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9544.8ms, max=9544.8ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=12.8ms, max=29.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.7ms, max=4386.7ms
+  task_sampling: mean=450.6ms, total=901.2ms, count=2, min=378.9ms, max=522.3ms
+  task_specific_sample: mean=446.0ms, total=892.1ms, count=2, min=374.8ms, max=517.3ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=430.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:19:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:19:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:19:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:19:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002807m	[env.py: 870]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7982505   0.05473096  0.00280666] yaw=163.6deg	[env.py: 1019]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68738991  0.46486347  0.00280666] yaw=178.5deg	[env.py: 1019]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.1ms	[env.py: 1075]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.055, 0.003)	[env.py: 1079]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.6 deg	[env.py: 1082]
+05/11 20:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:19:18 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:19:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:19:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.301s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.618[m] 99.233[deg]	[grasp_sample.py: 539]
+05/11 20:19:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:19:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042112m	[env.py: 870]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84083216  0.99750497  0.04211179] yaw=-138.1deg	[env.py: 1019]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05520385  1.19412431  0.04211179] yaw=-140.8deg	[env.py: 1019]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms	[env.py: 1075]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.998, 0.042)	[env.py: 1079]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg	[env.py: 1082]
+05/11 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:19:23 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:19:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:19:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.277s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.568[m] 84.861[deg]	[grasp_sample.py: 539]
+05/11 20:19:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:19:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:19:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:19:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.16s (batch: 3.65s, save: 8.50s)	[pipeline.py: 300]
+05/11 20:19:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.49s:
+  episode_total: mean=134.60s, total=403.81s, count=3, min=126345.4ms, max=150530.4ms
+  sensor_polling: mean=392.4ms, total=313.17s, count=798, min=281.2ms, max=731.0ms
+  physics_step: mean=21.7ms, total=17.34s, count=798, min=17.1ms, max=55.2ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8504.1ms, max=8504.1ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3653.7ms, max=3653.7ms
+  task_sampling: mean=497.2ms, total=1.49s, count=3, min=425.2ms, max=592.4ms
+  task_specific_sample: mean=492.1ms, total=1.48s, count=3, min=421.3ms, max=587.9ms
+  scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.8ms, max=2.5ms
+  mj_forward_sync: mean=472.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062701m	[env.py: 870]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71657459  0.60941879  0.06270077] yaw=-170.6deg	[env.py: 1019]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms	[env.py: 1075]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.609, 0.063)	[env.py: 1079]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:19:30 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:19:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:19:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:19:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 97.339[deg]	[grasp_sample.py: 539]
+05/11 20:19:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:19:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:19:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:19:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:19:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:20:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:20:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:20:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:21:10 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:21:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:21:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:21:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:21:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:21:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:21:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:21:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:21:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.95s (batch: 3.73s, save: 9.22s)	[pipeline.py: 300]
+05/11 20:21:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.39s:
+  episode_total: mean=171.23s, total=171.23s, count=1, min=171226.4ms, max=171226.4ms
+  sensor_polling: mean=416.9ms, total=125.07s, count=300, min=299.1ms, max=602.6ms
+  save_trajectories: mean=9.22s, total=9.22s, count=1, min=9220.4ms, max=9220.4ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=13.5ms, max=30.4ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.3ms, max=3728.3ms
+  task_sampling: mean=391.3ms, total=391.3ms, count=1, min=391.3ms, max=391.3ms
+  task_specific_sample: mean=387.6ms, total=387.6ms, count=1, min=387.6ms, max=387.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=392.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:21:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:21:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027658m	[env.py: 870]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67082034  0.11611986  0.02765824] yaw=167.1deg	[env.py: 1019]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88603111  0.76289346  0.02765824] yaw=-163.4deg	[env.py: 1019]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82302004  0.05078622  0.02765824] yaw=161.1deg	[env.py: 1019]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=356.2ms, total=356.3ms	[env.py: 1075]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.116, 0.028)	[env.py: 1079]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
+05/11 20:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:21:29 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:21:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:21:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:21:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 89.887[deg]	[grasp_sample.py: 539]
+05/11 20:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:21:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:21:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.16s (batch: 3.66s, save: 10.50s)	[pipeline.py: 300]
+05/11 20:21:34 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
+  episode_total: mean=162.21s, total=162.21s, count=1, min=162210.0ms, max=162210.0ms
+  sensor_polling: mean=384.1ms, total=115.22s, count=300, min=290.7ms, max=596.3ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10496.1ms, max=10496.1ms
+  physics_step: mean=20.6ms, total=6.17s, count=300, min=17.1ms, max=35.0ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3663.0ms, max=3663.0ms
+  task_sampling: mean=338.6ms, total=338.6ms, count=1, min=338.6ms, max=338.6ms
+  task_specific_sample: mean=335.1ms, total=335.1ms, count=1, min=335.1ms, max=335.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=410.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:21:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:21:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:21:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:21:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099360m	[env.py: 870]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:21:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88779502  0.96389238  0.09935976] yaw=-145.4deg	[env.py: 1019]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75107506  0.78749164  0.09935976] yaw=-153.4deg	[env.py: 1019]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8308245   0.23810604  0.09935976] yaw=156.3deg	[env.py: 1019]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.1ms	[env.py: 1075]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.964, 0.099)	[env.py: 1079]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg	[env.py: 1082]
+05/11 20:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:21:36 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:21:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:21:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 84.429[deg]	[grasp_sample.py: 539]
+05/11 20:21:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:21:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:21:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:21:40 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:21:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:21:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:21:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.42s (batch: 4.45s, save: 8.97s)	[pipeline.py: 300]
+05/11 20:21:44 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.79s:
+  episode_total: mean=72.41s, total=144.82s, count=2, min=3809.9ms, max=141008.7ms
+  sensor_polling: mean=320.8ms, total=96.24s, count=300, min=295.4ms, max=666.2ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8973.4ms, max=8973.4ms
+  physics_step: mean=19.2ms, total=5.76s, count=300, min=14.1ms, max=30.7ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4445.1ms, max=4445.1ms
+  task_sampling: mean=397.4ms, total=794.8ms, count=2, min=366.1ms, max=428.7ms
+  task_specific_sample: mean=393.3ms, total=786.6ms, count=2, min=362.1ms, max=424.4ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=412.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:21:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:21:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:21:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:21:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043667m	[env.py: 870]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:21:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69537892  0.91850551  0.04366689] yaw=-161.1deg	[env.py: 1019]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96467346  0.88824217  0.04366689] yaw=-143.3deg	[env.py: 1019]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79910127  0.33876433  0.04366689] yaw=179.0deg	[env.py: 1019]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.1ms, total=162.1ms	[env.py: 1075]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.919, 0.044)	[env.py: 1079]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/11 20:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:21:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:21:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:21:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 80.388[deg]	[grasp_sample.py: 539]
+05/11 20:21:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:21:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:21:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:22:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:22:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:22:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:22:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:22:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.13s, save: 9.38s)	[pipeline.py: 300]
+05/11 20:22:17 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=167.43s, total=167.43s, count=1, min=167426.9ms, max=167426.9ms
+  sensor_polling: mean=399.9ms, total=119.97s, count=300, min=282.9ms, max=725.8ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9378.7ms, max=9378.7ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=17.2ms, max=29.8ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.7ms, max=4130.7ms
+  task_sampling: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
+  task_specific_sample: mean=514.8ms, total=514.8ms, count=1, min=514.8ms, max=514.8ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:22:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:22:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:22:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:22:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:22:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:22:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:22:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075054m	[env.py: 870]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:22:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62819958  0.344124    0.07505434] yaw=169.5deg	[env.py: 1019]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66637915  0.78106578  0.07505434] yaw=-155.0deg	[env.py: 1019]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09213982  1.00725676  0.07505434] yaw=-139.9deg	[env.py: 1019]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:22:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.3ms	[env.py: 1075]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.344, 0.075)	[env.py: 1079]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
+05/11 20:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:22:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:22:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:22:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:22:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:22:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:22:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.690[m] 104.549[deg]	[grasp_sample.py: 539]
+05/11 20:22:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:22:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:22:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:22:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:22:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:23:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:23:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:23:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:23:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:23:32 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:23:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.350s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:23:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.114[m] 6.663[deg]	[grasp_sample.py: 539]
+05/11 20:23:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:23:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:23:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:23:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:47 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:23:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:23:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:54 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:23:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:23:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:23:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:23:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:23:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:24:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:24:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:24:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:24:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:24:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:24:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.02s (batch: 5.10s, save: 8.92s)	[pipeline.py: 300]
+05/11 20:24:09 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=143.03s, total=143.03s, count=1, min=143032.5ms, max=143032.5ms
+  sensor_polling: mean=320.6ms, total=96.18s, count=300, min=300.4ms, max=691.8ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8922.2ms, max=8922.2ms
+  physics_step: mean=19.0ms, total=5.71s, count=300, min=14.3ms, max=24.9ms
+  save_batch_prep: mean=5.10s, total=5.10s, count=1, min=5099.2ms, max=5099.2ms
+  task_sampling: mean=409.4ms, total=409.4ms, count=1, min=409.4ms, max=409.4ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=396.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:24:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:24:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:24:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:24:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060623m	[env.py: 870]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:24:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90285071  0.22547124  0.06062292] yaw=157.4deg	[env.py: 1019]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96070636  0.30697583  0.06062292] yaw=163.7deg	[env.py: 1019]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71816619  0.64762412  0.06062292] yaw=-160.2deg	[env.py: 1019]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:24:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.8ms	[env.py: 1075]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.225, 0.061)	[env.py: 1079]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.4 deg	[env.py: 1082]
+05/11 20:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:24:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:24:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.56s (batch: 3.55s, save: 9.01s)	[pipeline.py: 300]
+05/11 20:24:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:24:11 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:24:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:24:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:24:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:24:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:24:11 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.66s:
+  episode_total: mean=162.75s, total=162.75s, count=1, min=162748.6ms, max=162748.6ms
+  sensor_polling: mean=390.2ms, total=117.05s, count=300, min=297.5ms, max=652.6ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9011.0ms, max=9011.0ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.2ms, max=43.6ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3545.8ms, max=3545.8ms
+  task_sampling: mean=658.3ms, total=658.3ms, count=1, min=658.3ms, max=658.3ms
+  task_specific_sample: mean=654.6ms, total=654.6ms, count=1, min=654.6ms, max=654.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=401.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:24:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:24:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 83.876[deg]	[grasp_sample.py: 539]
+05/11 20:24:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:24:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:24:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:24:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:24:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:24:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013231m	[env.py: 870]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:24:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93522787  0.18169771  0.01323129] yaw=169.3deg	[env.py: 1019]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98935166  0.71767874  0.01323129] yaw=-165.6deg	[env.py: 1019]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:24:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.8ms	[env.py: 1075]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.182, 0.013)	[env.py: 1079]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg	[env.py: 1082]
+05/11 20:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:24:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:24:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:24:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.383[m] 85.341[deg]	[grasp_sample.py: 539]
+05/11 20:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:24:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:24:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:24:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:24:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.83s (batch: 3.35s, save: 10.48s)	[pipeline.py: 300]
+05/11 20:24:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
+  episode_total: mean=167.09s, total=167.09s, count=1, min=167087.7ms, max=167087.7ms
+  sensor_polling: mean=404.3ms, total=121.28s, count=300, min=302.5ms, max=723.7ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10480.5ms, max=10480.5ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=14.4ms, max=26.9ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3352.6ms, max=3352.6ms
+  task_sampling: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
+  task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=415.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:24:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:24:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071164m	[env.py: 870]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13131973  1.03478383  0.0711635 ] yaw=-144.0deg	[env.py: 1019]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76263814  0.99297244  0.0711635 ] yaw=-156.9deg	[env.py: 1019]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.10764246  1.00569008  0.0711635 ] yaw=-134.8deg	[env.py: 1019]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.8ms, total=171.9ms	[env.py: 1075]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.035, 0.071)	[env.py: 1079]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.0 deg	[env.py: 1082]
+05/11 20:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:24:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:24:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:24:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:24:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:24:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:24:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:24:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 94.002[deg]	[grasp_sample.py: 539]
+05/11 20:24:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:24:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:24:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:24:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:24:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:25:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:25:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:25:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:25:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:25:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:25:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.74s (batch: 4.88s, save: 8.86s)	[pipeline.py: 300]
+05/11 20:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:24 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=185.09s, total=185.09s, count=1, min=185085.2ms, max=185085.2ms
+  sensor_polling: mean=397.2ms, total=119.16s, count=300, min=304.2ms, max=729.3ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8859.4ms, max=8859.4ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=13.0ms, max=45.6ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4881.5ms, max=4881.5ms
+  task_sampling: mean=430.3ms, total=430.3ms, count=1, min=430.3ms, max=430.3ms
+  task_specific_sample: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=340.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:25:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:25:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:25:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:25:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:25:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041217m	[env.py: 870]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:25:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86966782  0.28993122  0.04121749] yaw=170.6deg	[env.py: 1019]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84685161  0.84146889  0.04121749] yaw=-155.3deg	[env.py: 1019]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:25:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms	[env.py: 1075]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.290, 0.041)	[env.py: 1079]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
+05/11 20:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:25:26 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:25:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:25:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.453s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 87.004[deg]	[grasp_sample.py: 539]
+05/11 20:25:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.992[deg]	[grasp_sample.py: 539]
+05/11 20:25:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:25:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.880[deg]	[grasp_sample.py: 539]
+05/11 20:25:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:25:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.880[deg]	[grasp_sample.py: 539]
+05/11 20:25:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:26:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:00 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.026[m] 1.569[deg]	[grasp_sample.py: 539]
+05/11 20:26:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:26:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 20:26:03 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.39s:
+  episode_total: mean=112.72s, total=112.72s, count=1, min=112721.8ms, max=112721.8ms
+  sensor_polling: mean=328.8ms, total=71.68s, count=218, min=299.1ms, max=636.9ms
+  physics_step: mean=19.9ms, total=4.33s, count=218, min=11.6ms, max=32.1ms
+  task_sampling: mean=385.1ms, total=385.1ms, count=1, min=385.1ms, max=385.1ms
+  task_specific_sample: mean=380.9ms, total=380.9ms, count=1, min=380.9ms, max=380.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=395.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:26:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:26:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:26:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:26:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033279m	[env.py: 870]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69401898  0.31524095  0.03327861] yaw=177.4deg	[env.py: 1019]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06053836  1.2359185   0.03327861] yaw=-131.7deg	[env.py: 1019]
+05/11 20:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96350781  0.78949029  0.03327861] yaw=-148.7deg	[env.py: 1019]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:26:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.1ms, total=176.2ms	[env.py: 1075]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.315, 0.033)	[env.py: 1079]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg	[env.py: 1082]
+05/11 20:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/11 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:26:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:26:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.576[m] 93.497[deg]	[grasp_sample.py: 539]
+05/11 20:26:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:26:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:26:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:26:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:26:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.358[deg]	[grasp_sample.py: 539]
+05/11 20:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:30 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:26:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:26:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:26:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:26:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:26:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039181m	[env.py: 870]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:26:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66150798  0.35812665  0.03918092] yaw=162.8deg	[env.py: 1019]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67627651  0.67771084  0.03918092] yaw=-170.4deg	[env.py: 1019]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90804098  0.96950046  0.03918092] yaw=-141.1deg	[env.py: 1019]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:26:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.2ms, total=216.2ms	[env.py: 1075]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.358, 0.039)	[env.py: 1079]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/11 20:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:26:32 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:26:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:26:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.606[m] 84.749[deg]	[grasp_sample.py: 539]
+05/11 20:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:26:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.701s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:37 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.978[deg]	[grasp_sample.py: 539]
+05/11 20:26:38 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:26:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:26:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:26:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006632m	[env.py: 870]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02041689  0.81463661  0.00663244] yaw=-145.1deg	[env.py: 1019]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93734269  0.83326127  0.00663244] yaw=-153.5deg	[env.py: 1019]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:26:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.8ms, total=205.8ms	[env.py: 1075]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.815, 0.007)	[env.py: 1079]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.1 deg	[env.py: 1082]
+05/11 20:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/11 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:26:40 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:26:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:26:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:26:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 95.274[deg]	[grasp_sample.py: 539]
+05/11 20:26:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:26:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:26:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:27:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:27:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:27:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:27:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:27:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:27:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:27:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.146[deg]	[grasp_sample.py: 539]
+05/11 20:27:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:27:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:27:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:27:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:27:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:45 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:27:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:28:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:28:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:28:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:28:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:28:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:28:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:28:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:28:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:28:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.20s (batch: 5.49s, save: 9.71s)	[pipeline.py: 300]
+05/11 20:28:22 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=176.68s, total=176.68s, count=1, min=176677.8ms, max=176677.8ms
+  sensor_polling: mean=400.4ms, total=120.13s, count=300, min=291.9ms, max=786.9ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9711.0ms, max=9711.0ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=17.1ms, max=29.0ms
+  save_batch_prep: mean=5.49s, total=5.49s, count=1, min=5487.1ms, max=5487.1ms
+  task_sampling: mean=478.5ms, total=478.5ms, count=1, min=478.5ms, max=478.5ms
+  task_specific_sample: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=338.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:28:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076829m	[env.py: 870]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0753644   1.27119066  0.07682858] yaw=-122.5deg	[env.py: 1019]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85120608  1.06778556  0.07682858] yaw=-146.6deg	[env.py: 1019]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9232966   0.65071852  0.07682858] yaw=-166.3deg	[env.py: 1019]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.6ms, total=152.7ms	[env.py: 1075]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.075, 1.271, 0.077)	[env.py: 1079]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg	[env.py: 1082]
+05/11 20:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:28:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:28:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:28:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.047s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.599[m] 97.572[deg]	[grasp_sample.py: 539]
+05/11 20:28:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:28:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:28:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:28:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.21s (batch: 4.40s, save: 8.82s)	[pipeline.py: 300]
+05/11 20:28:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.39s:
+  episode_total: mean=143.15s, total=143.15s, count=1, min=143149.9ms, max=143149.9ms
+  sensor_polling: mean=325.1ms, total=97.52s, count=300, min=285.6ms, max=723.8ms
+  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8817.0ms, max=8817.0ms
+  physics_step: mean=20.4ms, total=6.12s, count=300, min=14.3ms, max=30.6ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.0ms, max=4397.0ms
+  task_sampling: mean=392.4ms, total=392.4ms, count=1, min=392.4ms, max=392.4ms
+  task_specific_sample: mean=387.7ms, total=387.7ms, count=1, min=387.7ms, max=387.7ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=408.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020125m	[env.py: 870]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81090589  0.47656561  0.02012534] yaw=169.1deg	[env.py: 1019]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74470829  0.16734425  0.02012534] yaw=158.0deg	[env.py: 1019]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.7ms, total=162.7ms	[env.py: 1075]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.477, 0.020)	[env.py: 1079]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:28:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:28:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062515m	[env.py: 870]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67930397  0.22697493  0.06251458] yaw=159.6deg	[env.py: 1019]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71284958  0.71740488  0.06251458] yaw=-164.0deg	[env.py: 1019]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95224398  0.36562661  0.06251458] yaw=173.5deg	[env.py: 1019]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.9ms	[env.py: 1075]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.227, 0.063)	[env.py: 1079]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
+05/11 20:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/11 20:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.472[m] 92.488[deg]	[grasp_sample.py: 539]
+05/11 20:28:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:28:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:28:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:28:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:28:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:28:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.128s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.637[m] 95.381[deg]	[grasp_sample.py: 539]
+05/11 20:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:28:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:28:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:28:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:28:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:28:39 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:28:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:28:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:28:59 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/11 20:29:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:29:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:29:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:29:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:29:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:29:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.32s (batch: 3.80s, save: 8.53s)	[pipeline.py: 300]
+05/11 20:29:11 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.90s:
+  episode_total: mean=148.60s, total=297.19s, count=2, min=145245.4ms, max=151947.2ms
+  sensor_polling: mean=379.4ms, total=213.62s, count=563, min=289.0ms, max=678.2ms
+  physics_step: mean=20.7ms, total=11.63s, count=563, min=12.9ms, max=92.1ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8526.0ms, max=8526.0ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.2ms, max=3797.2ms
+  task_sampling: mean=450.7ms, total=901.5ms, count=2, min=434.4ms, max=467.1ms
+  task_specific_sample: mean=447.4ms, total=894.8ms, count=2, min=431.6ms, max=463.1ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=448.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:29:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:29:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:29:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.03s (batch: 3.35s, save: 8.68s)	[pipeline.py: 300]
+05/11 20:29:12 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.89s:
+  episode_total: mean=143.13s, total=286.27s, count=2, min=125747.7ms, max=160520.7ms
+  sensor_polling: mean=391.5ms, total=222.39s, count=568, min=288.8ms, max=777.2ms
+  physics_step: mean=21.6ms, total=12.29s, count=568, min=14.0ms, max=30.3ms
+  save_trajectories: mean=8.68s, total=8.68s, count=1, min=8683.6ms, max=8683.6ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3348.3ms, max=3348.3ms
+  task_sampling: mean=444.7ms, total=889.4ms, count=2, min=429.2ms, max=460.1ms
+  task_specific_sample: mean=440.0ms, total=879.9ms, count=2, min=425.2ms, max=454.8ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.4ms, max=2.5ms
+  mj_forward_sync: mean=622.0us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
+  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:29:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:29:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:29:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:29:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:29:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:29:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031443m	[env.py: 870]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:29:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98464804  1.2807138   0.03144336] yaw=-143.1deg	[env.py: 1019]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73477916  0.03976091  0.03144336] yaw=152.7deg	[env.py: 1019]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83393227  0.8904386   0.03144336] yaw=-153.0deg	[env.py: 1019]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:29:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.7ms, total=130.7ms	[env.py: 1075]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.281, 0.031)	[env.py: 1079]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
+05/11 20:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:29:13 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:29:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:29:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:29:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:29:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:29:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:29:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:29:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:29:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:29:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064230m	[env.py: 870]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79301585  0.0330296   0.06422973] yaw=159.2deg	[env.py: 1019]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91007477  0.87528158  0.06422973] yaw=-143.4deg	[env.py: 1019]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91681378  0.08371842  0.06422973] yaw=158.8deg	[env.py: 1019]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.6ms	[env.py: 1075]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.033, 0.064)	[env.py: 1079]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
+05/11 20:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:29:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:29:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:29:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:29:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:29:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:29:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.881s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:29:15 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:29:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:29:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 90.541[deg]	[grasp_sample.py: 539]
+05/11 20:29:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:29:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:29:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:29:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:29:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:29:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:29:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:29:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088644m	[env.py: 870]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:29:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92075485  0.86750174  0.08864365] yaw=-147.6deg	[env.py: 1019]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83094603  1.060729    0.08864365] yaw=-147.7deg	[env.py: 1019]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81786015  0.82295371  0.08864365] yaw=-152.7deg	[env.py: 1019]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:29:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.1ms	[env.py: 1075]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.868, 0.089)	[env.py: 1079]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg	[env.py: 1082]
+05/11 20:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/11 20:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:29:17 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:29:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:29:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:29:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:29:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:29:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:29:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:29:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:29:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.383[deg]	[grasp_sample.py: 539]
+05/11 20:29:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:29:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:29:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:29:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:30:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:30:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:30:33 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:30:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:30:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:30:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:30:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:30:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:30:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:30:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.14s (batch: 4.57s, save: 8.57s)	[pipeline.py: 300]
+05/11 20:30:55 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.34s:
+  episode_total: mean=144.57s, total=144.57s, count=1, min=144570.2ms, max=144570.2ms
+  sensor_polling: mean=328.1ms, total=98.44s, count=300, min=307.4ms, max=681.7ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8572.0ms, max=8572.0ms
+  physics_step: mean=20.4ms, total=6.12s, count=300, min=13.9ms, max=28.0ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4565.2ms, max=4565.2ms
+  task_sampling: mean=342.2ms, total=342.2ms, count=1, min=342.2ms, max=342.2ms
+  task_specific_sample: mean=338.8ms, total=338.8ms, count=1, min=338.8ms, max=338.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=357.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088555m	[env.py: 870]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72350131  0.88159741  0.08855457] yaw=-162.7deg	[env.py: 1019]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80733025  0.48204913  0.08855457] yaw=-187.4deg	[env.py: 1019]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95824095  1.03319098  0.08855457] yaw=-149.0deg	[env.py: 1019]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.8ms	[env.py: 1075]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.882, 0.089)	[env.py: 1079]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:30:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.219s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.663[m] 91.009[deg]	[grasp_sample.py: 539]
+05/11 20:31:01 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:31:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093384m	[env.py: 870]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92645095  1.17626058  0.09338449] yaw=-144.8deg	[env.py: 1019]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92112971  0.47611578  0.09338449] yaw=175.1deg	[env.py: 1019]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78140497  0.90783468  0.09338449] yaw=-161.7deg	[env.py: 1019]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.4ms	[env.py: 1075]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 1.176, 0.093)	[env.py: 1079]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
+05/11 20:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:31:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:31:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:31:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.68s (batch: 4.54s, save: 9.14s)	[pipeline.py: 300]
+05/11 20:31:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.82s:
+  episode_total: mean=80.18s, total=160.35s, count=2, min=3623.3ms, max=156731.1ms
+  sensor_polling: mean=376.5ms, total=112.96s, count=300, min=324.7ms, max=694.6ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.0ms, max=9142.0ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=16.1ms, max=27.7ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4536.3ms, max=4536.3ms
+  task_sampling: mean=412.1ms, total=824.2ms, count=2, min=365.0ms, max=459.2ms
+  task_specific_sample: mean=407.3ms, total=814.5ms, count=2, min=360.1ms, max=454.4ms
+  scene_randomize: mean=3.0ms, total=6.0ms, count=2, min=2.9ms, max=3.0ms
+  mj_forward_sync: mean=431.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=28.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:31:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:06 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.688[m] 85.168[deg]	[grasp_sample.py: 539]
+05/11 20:31:07 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:31:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069765m	[env.py: 870]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90860099  0.06924277  0.06976505] yaw=142.4deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96002832  0.84449169  0.06976505] yaw=-157.9deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08713746  0.97827989  0.06976505] yaw=-144.9deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.7ms	[env.py: 1075]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.069, 0.070)	[env.py: 1079]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.4 deg	[env.py: 1082]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:31:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:31:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:31:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092348m	[env.py: 870]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81872115  0.75055622  0.09234801] yaw=-163.2deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.713751    0.55273981  0.09234801] yaw=-165.6deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93513104  0.55770589  0.09234801] yaw=-181.5deg	[env.py: 1019]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.8ms, total=187.9ms	[env.py: 1075]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.751, 0.092)	[env.py: 1079]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
+05/11 20:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:31:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:31:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.443[m] 86.114[deg]	[grasp_sample.py: 539]
+05/11 20:31:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 85.661[deg]	[grasp_sample.py: 539]
+05/11 20:31:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:31:15 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:31:16 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:31:35 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:31:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:31:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:31:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:31:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:31:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:31:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:31:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:31:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.65s (batch: 3.39s, save: 8.26s)	[pipeline.py: 300]
+05/11 20:31:48 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
+  episode_total: mean=153.64s, total=153.64s, count=1, min=153642.1ms, max=153642.1ms
+  sensor_polling: mean=366.1ms, total=109.82s, count=300, min=288.7ms, max=837.5ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8263.3ms, max=8263.3ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=16.9ms, max=32.5ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3389.7ms, max=3389.7ms
+  task_sampling: mean=420.1ms, total=420.1ms, count=1, min=420.1ms, max=420.1ms
+  task_specific_sample: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=401.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:31:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:31:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:31:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.77s (batch: 3.27s, save: 8.50s)	[pipeline.py: 300]
+05/11 20:31:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:31:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:31:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:31:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098877m	[env.py: 870]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:31:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07688212  1.04727141  0.09887659] yaw=-145.9deg	[env.py: 1019]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80852502  0.65856924  0.09887659] yaw=-179.0deg	[env.py: 1019]
+05/11 20:31:49 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.70s:
+  episode_total: mean=77.52s, total=155.04s, count=2, min=2366.8ms, max=152671.0ms
+  sensor_polling: mean=367.8ms, total=110.33s, count=300, min=292.8ms, max=721.6ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8495.5ms, max=8495.5ms
+  physics_step: mean=20.2ms, total=6.07s, count=300, min=13.8ms, max=29.2ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3272.9ms, max=3272.9ms
+  task_sampling: mean=349.8ms, total=699.7ms, count=2, min=342.3ms, max=357.4ms
+  task_specific_sample: mean=346.0ms, total=692.1ms, count=2, min=338.3ms, max=353.8ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms
+  mj_forward_sync: mean=403.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93679188  1.04696944  0.09887659] yaw=-150.9deg	[env.py: 1019]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms	[env.py: 1075]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.047, 0.099)	[env.py: 1079]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/11 20:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:31:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:31:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:31:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 89.662[deg]	[grasp_sample.py: 539]
+05/11 20:31:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039973m	[env.py: 870]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:31:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95572028  0.93072406  0.03997263] yaw=-138.3deg	[env.py: 1019]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72145579  0.83569178  0.03997263] yaw=-150.1deg	[env.py: 1019]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78542763  0.72788281  0.03997263] yaw=-155.6deg	[env.py: 1019]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.9ms, total=117.0ms	[env.py: 1075]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.931, 0.040)	[env.py: 1079]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg	[env.py: 1082]
+05/11 20:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:31:51 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:31:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:31:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:31:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 94.250[deg]	[grasp_sample.py: 539]
+05/11 20:31:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:31:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:32:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:32:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:32:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:32:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:32:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.386s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.134[deg]	[grasp_sample.py: 539]
+05/11 20:32:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:32:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:32:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:32:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:32:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:32:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:32:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:32:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040134m	[env.py: 870]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:32:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90775247  1.19144127  0.04013434] yaw=-135.1deg	[env.py: 1019]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:32:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms	[env.py: 1075]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 1.191, 0.040)	[env.py: 1079]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/11 20:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:32:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:32:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:32:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:32:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:32:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 90.934[deg]	[grasp_sample.py: 539]
+05/11 20:32:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:32:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:32:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:32:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:33:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:33:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:33:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:33:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:33:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:33:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.37s, save: 9.15s)	[pipeline.py: 300]
+05/11 20:33:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.12s:
+  episode_total: mean=51.31s, total=153.92s, count=3, min=4377.0ms, max=144830.6ms
+  sensor_polling: mean=328.1ms, total=98.43s, count=300, min=306.9ms, max=712.9ms
+  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.1ms, max=9147.1ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=14.7ms, max=28.9ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4367.3ms, max=4367.3ms
+  task_sampling: mean=372.4ms, total=1.12s, count=3, min=332.8ms, max=401.7ms
+  task_specific_sample: mean=369.0ms, total=1.11s, count=3, min=329.9ms, max=398.9ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=397.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:33:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082989m	[env.py: 870]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72130934  0.86461782  0.08298862] yaw=-161.7deg	[env.py: 1019]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0767517   0.97367766  0.08298862] yaw=-147.0deg	[env.py: 1019]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.2ms, total=230.2ms	[env.py: 1075]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.865, 0.083)	[env.py: 1079]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/11 20:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:33:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:33:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:38 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:33:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.653[m] 87.042[deg]	[grasp_sample.py: 539]
+05/11 20:33:40 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:33:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:33:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:33:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:33:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013302m	[env.py: 870]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:33:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93545175  0.46905706  0.01330219] yaw=186.6deg	[env.py: 1019]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92118975  0.97837576  0.01330219] yaw=-156.9deg	[env.py: 1019]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86944393  0.83934307  0.01330219] yaw=-145.5deg	[env.py: 1019]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.7ms	[env.py: 1075]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.469, 0.013)	[env.py: 1079]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.6 deg	[env.py: 1082]
+05/11 20:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:33:42 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:33:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.329[m] 85.599[deg]	[grasp_sample.py: 539]
+05/11 20:33:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:33:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:33:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:33:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:33:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.791[deg]	[grasp_sample.py: 539]
+05/11 20:33:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:54 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:33:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:33:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:33:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:33:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087869m	[env.py: 870]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:33:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74323319  0.16328048  0.08786949] yaw=160.2deg	[env.py: 1019]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00748753  1.23796211  0.08786949] yaw=-134.3deg	[env.py: 1019]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95637857  0.34527342  0.08786949] yaw=175.7deg	[env.py: 1019]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.9ms	[env.py: 1075]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.163, 0.088)	[env.py: 1079]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg	[env.py: 1082]
+05/11 20:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:33:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:33:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 85.393[deg]	[grasp_sample.py: 539]
+05/11 20:33:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:33:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:33:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:34:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:34:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:34:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:34:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:34:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:34:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.81s (batch: 3.25s, save: 8.56s)	[pipeline.py: 300]
+05/11 20:34:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:34:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.36s:
+  episode_total: mean=142.00s, total=142.00s, count=1, min=141999.9ms, max=141999.9ms
+  sensor_polling: mean=328.5ms, total=98.56s, count=300, min=276.4ms, max=700.4ms
+  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8561.3ms, max=8561.3ms
+  physics_step: mean=18.8ms, total=5.63s, count=300, min=17.1ms, max=29.0ms
+  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.2ms, max=3248.2ms
+  task_sampling: mean=355.9ms, total=355.9ms, count=1, min=355.9ms, max=355.9ms
+  task_specific_sample: mean=351.1ms, total=351.1ms, count=1, min=351.1ms, max=351.1ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061707m	[env.py: 870]
+05/11 20:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95209217  0.23490885  0.06170728] yaw=156.8deg	[env.py: 1019]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98692085  1.142924    0.06170728] yaw=-129.8deg	[env.py: 1019]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75741853  0.49880526  0.06170728] yaw=-176.8deg	[env.py: 1019]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.235, 0.062)	[env.py: 1079]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:34:14 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.354[m] 95.238[deg]	[grasp_sample.py: 539]
+05/11 20:34:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:34:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:34:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:34:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 4.422[deg]	[grasp_sample.py: 539]
+05/11 20:34:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:34:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:34:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:34:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:34:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:34:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:00 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:35:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:35:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:35:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.249[deg]	[grasp_sample.py: 539]
+05/11 20:35:30 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:35:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:35:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083418m	[env.py: 870]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79432521  0.30784726  0.08341839] yaw=179.6deg	[env.py: 1019]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11878341  1.00441059  0.08341839] yaw=-134.4deg	[env.py: 1019]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96641158  0.26771758  0.08341839] yaw=161.0deg	[env.py: 1019]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:35:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.5ms, total=156.5ms	[env.py: 1075]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.308, 0.083)	[env.py: 1079]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg	[env.py: 1082]
+05/11 20:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/11 20:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:35:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:35:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 87.720[deg]	[grasp_sample.py: 539]
+05/11 20:35:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:35:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:35:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:35:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.14s (batch: 4.77s, save: 9.37s)	[pipeline.py: 300]
+05/11 20:35:37 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.00s:
+  episode_total: mean=132.94s, total=265.87s, count=2, min=100751.9ms, max=165118.3ms
+  sensor_polling: mean=359.4ms, total=192.65s, count=536, min=285.4ms, max=686.0ms
+  physics_step: mean=19.3ms, total=10.36s, count=536, min=13.8ms, max=52.6ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9367.6ms, max=9367.6ms
+  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4772.3ms, max=4772.3ms
+  task_sampling: mean=498.0ms, total=996.0ms, count=2, min=367.6ms, max=628.5ms
+  task_specific_sample: mean=494.0ms, total=987.9ms, count=2, min=363.7ms, max=624.3ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=416.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:35:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:35:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:35:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:35:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:35:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:35:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044891m	[env.py: 870]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:35:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91784891  0.70046582  0.04489124] yaw=-170.3deg	[env.py: 1019]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94416432  0.62633749  0.04489124] yaw=-167.9deg	[env.py: 1019]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79608973  1.02624968  0.04489124] yaw=-153.6deg	[env.py: 1019]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:35:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms	[env.py: 1075]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.700, 0.045)	[env.py: 1079]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg	[env.py: 1082]
+05/11 20:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:35:39 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:35:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:35:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:35:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:35:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 93.399[deg]	[grasp_sample.py: 539]
+05/11 20:35:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:35:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:35:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:35:59 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 20:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:36:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:36:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.23s (batch: 4.03s, save: 8.19s)	[pipeline.py: 300]
+05/11 20:36:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:13 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.83s:
+  episode_total: mean=77.41s, total=154.83s, count=2, min=3909.9ms, max=150919.1ms
+  sensor_polling: mean=330.7ms, total=94.93s, count=287, min=303.3ms, max=723.0ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8193.7ms, max=8193.7ms
+  physics_step: mean=19.7ms, total=5.65s, count=287, min=14.1ms, max=30.0ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4032.7ms, max=4032.7ms
+  task_sampling: mean=416.8ms, total=833.6ms, count=2, min=364.9ms, max=468.6ms
+  task_specific_sample: mean=412.7ms, total=825.3ms, count=2, min=360.8ms, max=464.5ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=423.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:36:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020491m	[env.py: 870]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:36:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83408365  0.55522111  0.02049146] yaw=-171.5deg	[env.py: 1019]
+05/11 20:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16322791  1.1096854   0.02049146] yaw=-134.7deg	[env.py: 1019]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95878455  1.14445843  0.02049146] yaw=-138.1deg	[env.py: 1019]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=128.4ms, total=128.5ms	[env.py: 1075]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.555, 0.020)	[env.py: 1079]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg	[env.py: 1082]
+05/11 20:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/11 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:36:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:36:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.440s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 76.910[deg]	[grasp_sample.py: 539]
+05/11 20:36:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:36:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:36:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:36:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.312[deg]	[grasp_sample.py: 539]
+05/11 20:36:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:36:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:22 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:36:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:36:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:36:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:36:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:36:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:36:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.28s (batch: 3.41s, save: 8.88s)	[pipeline.py: 300]
+05/11 20:36:55 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.89s:
+  episode_total: mean=152.44s, total=304.88s, count=2, min=124830.3ms, max=180048.6ms
+  sensor_polling: mean=387.5ms, total=225.14s, count=581, min=287.9ms, max=757.7ms
+  physics_step: mean=21.9ms, total=12.75s, count=581, min=16.9ms, max=167.9ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8876.3ms, max=8876.3ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3406.0ms, max=3406.0ms
+  task_sampling: mean=442.5ms, total=885.0ms, count=2, min=436.4ms, max=448.6ms
+  task_specific_sample: mean=438.9ms, total=877.8ms, count=2, min=432.9ms, max=444.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=502.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:36:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:36:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096525m	[env.py: 870]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89997566  0.10159639  0.0965248 ] yaw=143.6deg	[env.py: 1019]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78924361  0.91152801  0.0965248 ] yaw=-147.1deg	[env.py: 1019]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75828872  0.65145895  0.0965248 ] yaw=-172.6deg	[env.py: 1019]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.5ms, total=294.5ms	[env.py: 1075]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.102, 0.097)	[env.py: 1079]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.6 deg	[env.py: 1082]
+05/11 20:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/11 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:36:57 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:36:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 87.224[deg]	[grasp_sample.py: 539]
+05/11 20:36:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:37:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:37:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:49 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:38:01 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:38:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:38:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:38:04 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:38:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:38:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:38:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:38:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:38:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:38:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.76s (batch: 4.50s, save: 9.26s)	[pipeline.py: 300]
+05/11 20:38:16 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.36s:
+  episode_total: mean=157.39s, total=157.39s, count=1, min=157389.4ms, max=157389.4ms
+  sensor_polling: mean=370.8ms, total=111.24s, count=300, min=305.9ms, max=707.5ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9262.1ms, max=9262.1ms
+  physics_step: mean=19.8ms, total=5.95s, count=300, min=13.8ms, max=28.0ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.9ms, max=4500.9ms
+  task_sampling: mean=358.7ms, total=358.7ms, count=1, min=358.7ms, max=358.7ms
+  task_specific_sample: mean=353.5ms, total=353.5ms, count=1, min=353.5ms, max=353.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=442.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:38:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:38:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080987m	[env.py: 870]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95168454  0.50147005  0.08098665] yaw=-168.1deg	[env.py: 1019]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78282553  0.29240227  0.08098665] yaw=160.5deg	[env.py: 1019]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89073911  0.9722198   0.08098665] yaw=-152.1deg	[env.py: 1019]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.1ms	[env.py: 1075]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.501, 0.081)	[env.py: 1079]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg	[env.py: 1082]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:38:18 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:38:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:38:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:38:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.341[m] 84.741[deg]	[grasp_sample.py: 539]
+05/11 20:38:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:38:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:38:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:38:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.97s (batch: 3.48s, save: 8.49s)	[pipeline.py: 300]
+05/11 20:38:23 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.71s:
+  episode_total: mean=123.88s, total=247.77s, count=2, min=76622.4ms, max=171144.9ms
+  sensor_polling: mean=367.1ms, total=172.93s, count=471, min=289.4ms, max=795.7ms
+  physics_step: mean=21.0ms, total=9.91s, count=471, min=15.8ms, max=34.0ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8490.1ms, max=8490.1ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3482.8ms, max=3482.8ms
+  task_sampling: mean=355.4ms, total=710.9ms, count=2, min=343.9ms, max=367.0ms
+  task_specific_sample: mean=352.1ms, total=704.1ms, count=2, min=340.2ms, max=364.0ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=411.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055209m	[env.py: 870]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82804753  0.8496973   0.055209  ] yaw=-161.2deg	[env.py: 1019]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99715263  1.05850574  0.055209  ] yaw=-132.9deg	[env.py: 1019]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77669959  0.41759349  0.055209  ] yaw=186.2deg	[env.py: 1019]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.9ms, total=138.9ms	[env.py: 1075]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.850, 0.055)	[env.py: 1079]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/11 20:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:38:24 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:38:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.472[m] 81.554[deg]	[grasp_sample.py: 539]
+05/11 20:38:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:25 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:38:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:38:25 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/11 20:38:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:38:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:38:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.387[deg]	[grasp_sample.py: 539]
+05/11 20:38:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:38:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:38:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.78s (batch: 4.33s, save: 9.45s)	[pipeline.py: 300]
+05/11 20:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:40 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
+  episode_total: mean=145.48s, total=145.48s, count=1, min=145476.8ms, max=145476.8ms
+  sensor_polling: mean=332.6ms, total=99.13s, count=298, min=304.8ms, max=844.7ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9449.3ms, max=9449.3ms
+  physics_step: mean=19.9ms, total=5.94s, count=298, min=14.0ms, max=31.4ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.2ms, max=4329.2ms
+  task_sampling: mean=364.9ms, total=364.9ms, count=1, min=364.9ms, max=364.9ms
+  task_specific_sample: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=429.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:42 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:38:42 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:38:42 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/11 20:38:42 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=3332.80s
+  House averages:
+  episode_total: mean=104.04s, total=1872.66s, count=18, min=2896.2ms, max=175759.6ms
+  sensor_polling: mean=335.0ms, total=1223.91s, count=3654, min=279.4ms, max=844.7ms
+  save_trajectories: mean=9.17s, total=91.74s, count=10, min=8193.7ms, max=10228.9ms
+  physics_step: mean=20.1ms, total=73.35s, count=3654, min=11.6ms, max=57.5ms
+  save_batch_prep: mean=4.65s, total=46.50s, count=10, min=3919.5ms, max=6956.9ms
+  task_sampling: mean=584.6ms, total=10.52s, count=18, min=332.8ms, max=3442.1ms
+  task_specific_sample: mean=429.4ms, total=7.73s, count=18, min=329.9ms, max=729.4ms
+  scene_load: mean=2.72s, total=2.72s, count=1, min=2716.9ms, max=2716.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.7ms, max=1777.7ms
+  scene_compile: mean=789.9ms, total=789.9ms, count=1, min=789.9ms, max=789.9ms
+  compile_mujoco: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  compile_xml_load: mean=169.2ms, total=169.2ms, count=1, min=169.2ms, max=169.2ms
+  scene_init: mean=100.0ms, total=100.0ms, count=1, min=100.0ms, max=100.0ms
+  compile_aux_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  compile_aux_policy_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.5ms
+  asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms
+  asset_install_objects: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=412.1us, total=7.4ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=29.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 20:38:42 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 20:38:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3332.80s
+  Worker averages:
+  episode_total: mean=104.04s, total=1872.66s, count=18, min=2896.2ms, max=175759.6ms
+  sensor_polling: mean=335.0ms, total=1223.91s, count=3654, min=279.4ms, max=844.7ms
+  save_trajectories: mean=9.17s, total=91.74s, count=10, min=8193.7ms, max=10228.9ms
+  physics_step: mean=20.1ms, total=73.35s, count=3654, min=11.6ms, max=57.5ms
+  save_batch_prep: mean=4.65s, total=46.50s, count=10, min=3919.5ms, max=6956.9ms
+  task_sampling: mean=584.6ms, total=10.52s, count=18, min=332.8ms, max=3442.1ms
+  task_specific_sample: mean=429.4ms, total=7.73s, count=18, min=329.9ms, max=729.4ms
+  scene_load: mean=2.72s, total=2.72s, count=1, min=2716.9ms, max=2716.9ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1777.7ms, max=1777.7ms
+  scene_compile: mean=789.9ms, total=789.9ms, count=1, min=789.9ms, max=789.9ms
+  compile_mujoco: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  compile_xml_load: mean=169.2ms, total=169.2ms, count=1, min=169.2ms, max=169.2ms
+  scene_init: mean=100.0ms, total=100.0ms, count=1, min=100.0ms, max=100.0ms
+  compile_aux_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  compile_aux_policy_objects: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms
+  scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  scene_randomize: mean=2.1ms, total=38.0ms, count=18, min=1.1ms, max=3.5ms
+  asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms
+  asset_install_objects: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=412.1us, total=7.4ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=29.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 20:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:38:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.389[deg]	[grasp_sample.py: 539]
+05/11 20:38:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:46 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 20:38:46 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/11 20:38:46 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/11 20:38:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:38:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:38:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:38:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:57 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.369s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.389[deg]	[grasp_sample.py: 539]
+05/11 20:38:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:39:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:39:09 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:39:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:39:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:39:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:39:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:39:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:39:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.392[deg]	[grasp_sample.py: 539]
+05/11 20:39:30 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:39:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:39:30 INFO: [Worker 0] Preparing episode data: 248 timesteps	[save_utils.py: 278]
+05/11 20:39:30 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:39:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:39:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:39:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:39:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056540m	[env.py: 870]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:39:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76143955  0.56556617  0.05653967] yaw=-168.4deg	[env.py: 1019]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94676913  1.25721434  0.05653967] yaw=-130.7deg	[env.py: 1019]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03719222  0.86249338  0.05653967] yaw=-154.1deg	[env.py: 1019]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1075]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.566, 0.057)	[env.py: 1079]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/11 20:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:39:32 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:39:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:39:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:39:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 100.287[deg]	[grasp_sample.py: 539]
+05/11 20:39:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:39:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:39:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:39:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:39:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:39:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 10.32s (batch: 2.96s, save: 7.36s)	[pipeline.py: 300]
+05/11 20:39:41 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.53s:
+  episode_total: mean=164.44s, total=164.44s, count=1, min=164442.4ms, max=164442.4ms
+  sensor_polling: mean=370.9ms, total=91.62s, count=247, min=294.8ms, max=732.5ms
+  save_trajectories: mean=7.36s, total=7.36s, count=1, min=7364.8ms, max=7364.8ms
+  physics_step: mean=20.4ms, total=5.03s, count=247, min=11.5ms, max=31.8ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2958.4ms, max=2958.4ms
+  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
+  task_specific_sample: mean=524.0ms, total=524.0ms, count=1, min=524.0ms, max=524.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=396.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:39:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082201m	[env.py: 870]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:39:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71786015  0.15298321  0.08220135] yaw=170.6deg	[env.py: 1019]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80650615  0.07659336  0.08220135] yaw=151.0deg	[env.py: 1019]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92634344  1.26118894  0.08220135] yaw=-126.8deg	[env.py: 1019]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms	[env.py: 1075]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.153, 0.082)	[env.py: 1079]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
+05/11 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:39:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.895s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:39:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.623[m] 95.383[deg]	[grasp_sample.py: 539]
+05/11 20:39:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:39:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:39:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:40:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:40:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:27 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:40:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:40:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:40:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.94s (batch: 3.47s, save: 8.47s)	[pipeline.py: 300]
+05/11 20:41:01 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.34s:
+  episode_total: mean=157.52s, total=157.52s, count=1, min=157519.6ms, max=157519.6ms
+  sensor_polling: mean=378.5ms, total=113.54s, count=300, min=292.1ms, max=747.9ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8468.9ms, max=8468.9ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=13.2ms, max=41.3ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3472.4ms, max=3472.4ms
+  task_sampling: mean=342.0ms, total=342.0ms, count=1, min=342.0ms, max=342.0ms
+  task_specific_sample: mean=338.3ms, total=338.3ms, count=1, min=338.3ms, max=338.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:41:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000888m	[env.py: 870]
+05/11 20:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71431716  0.1163825   0.00088812] yaw=169.5deg	[env.py: 1019]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71429464  0.77814039  0.00088812] yaw=-162.6deg	[env.py: 1019]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.67148860e-01  6.98362546e-01  8.88121294e-04] yaw=-158.1deg	[env.py: 1019]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=174.3ms, total=174.3ms	[env.py: 1075]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.116, 0.001)	[env.py: 1079]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
+05/11 20:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/11 20:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:41:03 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:41:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.632[m] 91.914[deg]	[grasp_sample.py: 539]
+05/11 20:41:06 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:41:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:41:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:41:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:41:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092931m	[env.py: 870]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:41:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92983195  1.16778381  0.09293137] yaw=-134.2deg	[env.py: 1019]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00132505  0.19315586  0.09293137] yaw=161.3deg	[env.py: 1019]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95910349  0.28961724  0.09293137] yaw=166.9deg	[env.py: 1019]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms	[env.py: 1075]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.168, 0.093)	[env.py: 1079]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
+05/11 20:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:41:07 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:41:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 82.786[deg]	[grasp_sample.py: 539]
+05/11 20:41:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:41:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.573s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.288[deg]	[grasp_sample.py: 539]
+05/11 20:41:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:41:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:48 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:41:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 0.199[deg]	[grasp_sample.py: 539]
+05/11 20:41:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:53 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 20:41:53 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.44s:
+  episode_total: mean=131.45s, total=131.45s, count=1, min=131449.0ms, max=131449.0ms
+  sensor_polling: mean=347.2ms, total=104.16s, count=300, min=283.6ms, max=752.7ms
+  physics_step: mean=18.8ms, total=5.64s, count=300, min=12.3ms, max=32.3ms
+  task_sampling: mean=435.5ms, total=435.5ms, count=1, min=435.5ms, max=435.5ms
+  task_specific_sample: mean=431.9ms, total=431.9ms, count=1, min=431.9ms, max=431.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=433.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046262m	[env.py: 870]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74694581  0.96012715  0.04626239] yaw=-159.8deg	[env.py: 1019]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98392404  1.07934268  0.04626239] yaw=-150.8deg	[env.py: 1019]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75859386  0.45324553  0.04626239] yaw=179.0deg	[env.py: 1019]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms	[env.py: 1075]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.960, 0.046)	[env.py: 1079]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/11 20:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:41:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:42:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:00 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.647[m] 75.625[deg]	[grasp_sample.py: 539]
+05/11 20:42:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:42:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:42:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:42:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:42:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:42:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.85s (batch: 4.18s, save: 8.67s)	[pipeline.py: 300]
+05/11 20:42:23 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.82s:
+  episode_total: mean=121.48s, total=242.96s, count=2, min=72335.9ms, max=170622.2ms
+  sensor_polling: mean=344.1ms, total=159.34s, count=463, min=277.9ms, max=925.8ms
+  physics_step: mean=18.8ms, total=8.68s, count=463, min=13.9ms, max=39.6ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8672.5ms, max=8672.5ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.7ms, max=4178.7ms
+  task_sampling: mean=409.1ms, total=818.1ms, count=2, min=403.3ms, max=414.8ms
+  task_specific_sample: mean=405.2ms, total=810.4ms, count=2, min=399.1ms, max=411.3ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=415.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:42:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:42:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:42:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:42:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037402m	[env.py: 870]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:42:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91516647  0.63054483  0.03740241] yaw=-174.9deg	[env.py: 1019]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76137851  0.83370235  0.03740241] yaw=-148.9deg	[env.py: 1019]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83910126  0.40825852  0.03740241] yaw=180.4deg	[env.py: 1019]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.6ms, total=84.6ms	[env.py: 1075]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.631, 0.037)	[env.py: 1079]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
+05/11 20:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:42:25 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:42:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:42:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 88.789[deg]	[grasp_sample.py: 539]
+05/11 20:42:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:42:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:42:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:54 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.030s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:42:54 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:42:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:42:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:42:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:42:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:42:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081023m	[env.py: 870]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:42:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.882034    0.22285867  0.08102333] yaw=160.1deg	[env.py: 1019]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86105376  1.17026064  0.08102333] yaw=-132.4deg	[env.py: 1019]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=511.0ms, total=511.1ms	[env.py: 1075]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.223, 0.081)	[env.py: 1079]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:42:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:42:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.413[m] 91.581[deg]	[grasp_sample.py: 539]
+05/11 20:42:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:42:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:43:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:43:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:55 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:44:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:44:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:18 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:44:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:44:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.606[deg]	[grasp_sample.py: 539]
+05/11 20:44:24 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:44:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:44:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:44:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:44:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066872m	[env.py: 870]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:44:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65076677  0.16420772  0.06687171] yaw=162.4deg	[env.py: 1019]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9818896   1.06089955  0.06687171] yaw=-142.6deg	[env.py: 1019]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=359.2ms, total=359.2ms	[env.py: 1075]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.164, 0.067)	[env.py: 1079]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.4 deg	[env.py: 1082]
+05/11 20:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/11 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:44:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:44:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.606[m] 83.294[deg]	[grasp_sample.py: 539]
+05/11 20:44:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:44:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:44:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.26s (batch: 3.55s, save: 8.71s)	[pipeline.py: 300]
+05/11 20:44:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:44:29 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.37s:
+  episode_total: mean=154.26s, total=154.26s, count=1, min=154260.7ms, max=154260.7ms
+  sensor_polling: mean=356.6ms, total=106.98s, count=300, min=275.9ms, max=785.2ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8708.2ms, max=8708.2ms
+  physics_step: mean=19.3ms, total=5.78s, count=300, min=16.8ms, max=30.0ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3549.4ms, max=3549.4ms
+  task_sampling: mean=369.8ms, total=369.8ms, count=1, min=369.8ms, max=369.8ms
+  task_specific_sample: mean=366.2ms, total=366.2ms, count=1, min=366.2ms, max=366.2ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=474.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:44:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037775m	[env.py: 870]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92771414  0.20577032  0.03777464] yaw=157.0deg	[env.py: 1019]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.61885452  0.36198948  0.03777464] yaw=164.0deg	[env.py: 1019]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms	[env.py: 1075]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.206, 0.038)	[env.py: 1079]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
+05/11 20:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:44:31 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:44:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.396[m] 88.875[deg]	[grasp_sample.py: 539]
+05/11 20:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:44:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:44:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:44:40 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/11 20:44:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:44:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:44:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.99s (batch: 4.19s, save: 8.80s)	[pipeline.py: 300]
+05/11 20:44:54 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.32s:
+  episode_total: mean=149.69s, total=149.69s, count=1, min=149688.9ms, max=149688.9ms
+  sensor_polling: mean=346.5ms, total=102.92s, count=297, min=283.8ms, max=685.6ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8799.7ms, max=8799.7ms
+  physics_step: mean=19.3ms, total=5.74s, count=297, min=14.0ms, max=29.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4189.7ms, max=4189.7ms
+  task_sampling: mean=323.9ms, total=323.9ms, count=1, min=323.9ms, max=323.9ms
+  task_specific_sample: mean=320.0ms, total=320.0ms, count=1, min=320.0ms, max=320.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=409.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084062m	[env.py: 870]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.743142    0.08463522  0.08406163] yaw=168.9deg	[env.py: 1019]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07268351  1.06750349  0.08406163] yaw=-145.0deg	[env.py: 1019]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05818607  1.22645048  0.08406163] yaw=-129.0deg	[env.py: 1019]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.6ms, total=97.6ms	[env.py: 1075]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.085, 0.084)	[env.py: 1079]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/11 20:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:44:56 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.597[m] 84.877[deg]	[grasp_sample.py: 539]
+05/11 20:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:45:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:45:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:45:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:45:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:45:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:45:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:45:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:45:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:45:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.326[deg]	[grasp_sample.py: 539]
+05/11 20:45:59 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:46:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:46:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:46:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:46:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:46:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:46:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:46:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085925m	[env.py: 870]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:46:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94061189  0.55094768  0.08592495] yaw=-184.3deg	[env.py: 1019]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94337342  0.92453237  0.08592495] yaw=-157.7deg	[env.py: 1019]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:46:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.1ms, total=237.1ms	[env.py: 1075]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.551, 0.086)	[env.py: 1079]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.3 deg	[env.py: 1082]
+05/11 20:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:46:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:46:01 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:46:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:46:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:46:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.363[m] 95.600[deg]	[grasp_sample.py: 539]
+05/11 20:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:46:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:46:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:46:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:46:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:46:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:49 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:46:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:46:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:46:52 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:47:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:47:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:47:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.96s (batch: 3.24s, save: 8.71s)	[pipeline.py: 300]
+05/11 20:47:02 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=2.31s:
+  episode_total: mean=88.90s, total=355.60s, count=4, min=3429.1ms, max=156646.6ms
+  sensor_polling: mean=349.9ms, total=271.55s, count=776, min=294.5ms, max=736.7ms
+  physics_step: mean=20.1ms, total=15.58s, count=776, min=13.0ms, max=36.6ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8713.1ms, max=8713.1ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3243.3ms, max=3243.3ms
+  task_sampling: mean=577.9ms, total=2.31s, count=4, min=332.7ms, max=708.2ms
+  task_specific_sample: mean=574.7ms, total=2.30s, count=4, min=329.8ms, max=705.5ms
+  scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=464.0us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=12.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:47:03 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:47:03 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:47:03 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/11 20:47:03 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=4351.25s
+  House averages:
+  episode_total: mean=132.47s, total=2384.37s, count=18, min=2366.8ms, max=204667.9ms
+  sensor_polling: mean=375.3ms, total=1692.65s, count=4510, min=276.4ms, max=795.7ms
+  save_trajectories: mean=9.04s, total=108.50s, count=12, min=8468.9ms, max=10769.6ms
+  physics_step: mean=20.9ms, total=94.09s, count=4510, min=12.9ms, max=92.1ms
+  save_batch_prep: mean=3.70s, total=44.38s, count=12, min=3243.3ms, max=4901.5ms
+  task_sampling: mean=640.8ms, total=11.54s, count=18, min=332.7ms, max=3859.9ms
+  task_specific_sample: mean=465.3ms, total=8.37s, count=18, min=329.8ms, max=760.5ms
+  scene_load: mean=3.10s, total=3.10s, count=1, min=3096.2ms, max=3096.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.4ms, max=1881.4ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1037.8ms, max=1037.8ms
+  compile_mujoco: mean=595.9ms, total=595.9ms, count=1, min=595.9ms, max=595.9ms
+  compile_xml_load: mean=361.9ms, total=361.9ms, count=1, min=361.9ms, max=361.9ms
+  scene_init: mean=129.5ms, total=129.5ms, count=1, min=129.5ms, max=129.5ms
+  scene_asset_install: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  scene_randomize: mean=2.1ms, total=37.5ms, count=18, min=1.2ms, max=3.3ms
+  asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms
+  compile_robot_add: mean=28.1ms, total=28.1ms, count=1, min=28.1ms, max=28.1ms
+  asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  mj_forward_sync: mean=436.8us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=17.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 20:47:03 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 20:47:03 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4351.25s
+  Worker averages:
+  episode_total: mean=132.47s, total=2384.37s, count=18, min=2366.8ms, max=204667.9ms
+  sensor_polling: mean=375.3ms, total=1692.65s, count=4510, min=276.4ms, max=795.7ms
+  save_trajectories: mean=9.04s, total=108.50s, count=12, min=8468.9ms, max=10769.6ms
+  physics_step: mean=20.9ms, total=94.09s, count=4510, min=12.9ms, max=92.1ms
+  save_batch_prep: mean=3.70s, total=44.38s, count=12, min=3243.3ms, max=4901.5ms
+  task_sampling: mean=640.8ms, total=11.54s, count=18, min=332.7ms, max=3859.9ms
+  task_specific_sample: mean=465.3ms, total=8.37s, count=18, min=329.8ms, max=760.5ms
+  scene_load: mean=3.10s, total=3.10s, count=1, min=3096.2ms, max=3096.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.4ms, max=1881.4ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1037.8ms, max=1037.8ms
+  compile_mujoco: mean=595.9ms, total=595.9ms, count=1, min=595.9ms, max=595.9ms
+  compile_xml_load: mean=361.9ms, total=361.9ms, count=1, min=361.9ms, max=361.9ms
+  scene_init: mean=129.5ms, total=129.5ms, count=1, min=129.5ms, max=129.5ms
+  scene_asset_install: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  scene_randomize: mean=2.1ms, total=37.5ms, count=18, min=1.2ms, max=3.3ms
+  asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms
+  compile_robot_add: mean=28.1ms, total=28.1ms, count=1, min=28.1ms, max=28.1ms
+  asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  mj_forward_sync: mean=436.8us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=17.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 20:47:05 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 20:47:05 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/11 20:47:05 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 20:47:14 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:47:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:47:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:47:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:47:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:47:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.91s (batch: 4.27s, save: 8.64s)	[pipeline.py: 300]
+05/11 20:47:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.34s:
+  episode_total: mean=152.32s, total=152.32s, count=1, min=152319.7ms, max=152319.7ms
+  sensor_polling: mean=352.3ms, total=105.70s, count=300, min=294.1ms, max=709.2ms
+  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8640.1ms, max=8640.1ms
+  physics_step: mean=20.2ms, total=6.05s, count=300, min=14.3ms, max=30.2ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4271.9ms, max=4271.9ms
+  task_sampling: mean=336.6ms, total=336.6ms, count=1, min=336.6ms, max=336.6ms
+  task_specific_sample: mean=332.8ms, total=332.8ms, count=1, min=332.8ms, max=332.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=402.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:47:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004500m	[env.py: 870]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86535079  1.14974772  0.00450003] yaw=-148.2deg	[env.py: 1019]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17524875  1.0430694   0.00450003] yaw=-140.9deg	[env.py: 1019]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63255122  0.66410869  0.00450003] yaw=-173.8deg	[env.py: 1019]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.8ms	[env.py: 1075]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 1.150, 0.005)	[env.py: 1079]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:47:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:47:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:47:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.707[m] 96.845[deg]	[grasp_sample.py: 539]
+05/11 20:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:47:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:47:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:47:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:47:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:47:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:47:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:47:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.242[deg]	[grasp_sample.py: 539]
+05/11 20:47:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:47:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:47:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:47:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:47:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:48:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:48:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:48:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:48:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:48:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:48:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.82s (batch: 3.41s, save: 9.41s)	[pipeline.py: 300]
+05/11 20:48:27 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.92s:
+  episode_total: mean=117.66s, total=235.32s, count=2, min=89134.7ms, max=146189.3ms
+  sensor_polling: mean=336.6ms, total=168.96s, count=502, min=284.9ms, max=716.2ms
+  physics_step: mean=19.4ms, total=9.74s, count=502, min=13.1ms, max=32.6ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.4ms, max=9413.4ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3406.1ms, max=3406.1ms
+  task_sampling: mean=460.9ms, total=921.7ms, count=2, min=425.4ms, max=496.3ms
+  task_specific_sample: mean=457.3ms, total=914.7ms, count=2, min=421.7ms, max=492.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=396.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:48:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:48:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:48:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:48:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060460m	[env.py: 870]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:48:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7662761  -0.02584806  0.06046027] yaw=141.1deg	[env.py: 1019]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73136765  0.57563746  0.06046027] yaw=-176.2deg	[env.py: 1019]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.9ms, total=162.9ms	[env.py: 1075]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, -0.026, 0.060)	[env.py: 1079]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.1 deg	[env.py: 1082]
+05/11 20:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:48:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:48:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:48:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.043s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:48:32 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.598[m] 84.937[deg]	[grasp_sample.py: 539]
+05/11 20:48:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:48:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:48:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:48:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:49:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:49:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.614[deg]	[grasp_sample.py: 539]
+05/11 20:49:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:49:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:49:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:49:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:49:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:35 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 20:49:35 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.36s:
+  episode_total: mean=125.22s, total=125.22s, count=1, min=125223.9ms, max=125223.9ms
+  sensor_polling: mean=370.2ms, total=111.06s, count=300, min=293.7ms, max=703.2ms
+  physics_step: mean=18.7ms, total=5.60s, count=300, min=13.9ms, max=44.2ms
+  task_sampling: mean=356.7ms, total=356.7ms, count=1, min=356.7ms, max=356.7ms
+  task_specific_sample: mean=352.8ms, total=352.8ms, count=1, min=352.8ms, max=352.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=411.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:49:37 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:49:37 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:49:37 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/11 20:49:37 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4605.67s
+  House averages:
+  episode_total: mean=140.40s, total=2527.26s, count=18, min=3623.3ms, max=185085.2ms
+  sensor_polling: mean=376.9ms, total=1802.74s, count=4783, min=277.9ms, max=925.8ms
+  save_trajectories: mean=9.17s, total=100.86s, count=11, min=8504.1ms, max=10522.9ms
+  physics_step: mean=20.6ms, total=98.75s, count=4783, min=13.0ms, max=60.1ms
+  save_batch_prep: mean=4.65s, total=51.20s, count=11, min=3653.7ms, max=6600.8ms
+  task_sampling: mean=596.4ms, total=10.74s, count=18, min=323.9ms, max=3289.4ms
+  task_specific_sample: mean=450.1ms, total=8.10s, count=18, min=320.0ms, max=726.8ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2560.2ms, max=2560.2ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1674.4ms, max=1674.4ms
+  scene_compile: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
+  compile_mujoco: mean=557.1ms, total=557.1ms, count=1, min=557.1ms, max=557.1ms
+  compile_xml_load: mean=148.7ms, total=148.7ms, count=1, min=148.7ms, max=148.7ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms
+  compile_aux_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  compile_aux_policy_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  scene_randomize: mean=2.2ms, total=40.4ms, count=18, min=0.9ms, max=3.2ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=411.9us, total=7.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=26.7us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 20:49:37 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 20:49:37 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4605.67s
+  Worker averages:
+  episode_total: mean=140.40s, total=2527.26s, count=18, min=3623.3ms, max=185085.2ms
+  sensor_polling: mean=376.9ms, total=1802.74s, count=4783, min=277.9ms, max=925.8ms
+  save_trajectories: mean=9.17s, total=100.86s, count=11, min=8504.1ms, max=10522.9ms
+  physics_step: mean=20.6ms, total=98.75s, count=4783, min=13.0ms, max=60.1ms
+  save_batch_prep: mean=4.65s, total=51.20s, count=11, min=3653.7ms, max=6600.8ms
+  task_sampling: mean=596.4ms, total=10.74s, count=18, min=323.9ms, max=3289.4ms
+  task_specific_sample: mean=450.1ms, total=8.10s, count=18, min=320.0ms, max=726.8ms
+  scene_load: mean=2.56s, total=2.56s, count=1, min=2560.2ms, max=2560.2ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1674.4ms, max=1674.4ms
+  scene_compile: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
+  compile_mujoco: mean=557.1ms, total=557.1ms, count=1, min=557.1ms, max=557.1ms
+  compile_xml_load: mean=148.7ms, total=148.7ms, count=1, min=148.7ms, max=148.7ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms
+  compile_aux_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  compile_aux_policy_objects: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  scene_randomize: mean=2.2ms, total=40.4ms, count=18, min=0.9ms, max=3.2ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  mj_forward_sync: mean=411.9us, total=7.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=26.7us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 20:49:40 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 20:49:40 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/11 20:49:40 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/11 20:50:19 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 20:50:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/11 20:50:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:50:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:50:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_008	[save_utils.py: 785]
+05/11 20:50:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.30s (batch: 3.33s, save: 8.97s)	[pipeline.py: 300]
+05/11 20:50:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.37s:
+  episode_total: mean=142.88s, total=142.88s, count=1, min=142877.2ms, max=142877.2ms
+  sensor_polling: mean=331.5ms, total=99.45s, count=300, min=297.2ms, max=739.4ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8974.9ms, max=8974.9ms
+  physics_step: mean=18.8ms, total=5.65s, count=300, min=13.0ms, max=56.4ms
+  save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3325.7ms, max=3325.7ms
+  task_sampling: mean=369.6ms, total=369.6ms, count=1, min=369.6ms, max=369.6ms
+  task_specific_sample: mean=365.7ms, total=365.7ms, count=1, min=365.7ms, max=365.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=406.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 20:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 20:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 20:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089626m	[env.py: 870]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 20:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93440709  0.43539448  0.08962588] yaw=177.2deg	[env.py: 1019]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67083366  0.77655872  0.08962588] yaw=-158.9deg	[env.py: 1019]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82307472  0.6490485   0.08962588] yaw=-164.1deg	[env.py: 1019]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.7ms, total=132.7ms	[env.py: 1075]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.435, 0.090)	[env.py: 1079]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.2 deg	[env.py: 1082]
+05/11 20:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 20:50:52 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 20:50:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:50:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 97.861[deg]	[grasp_sample.py: 539]
+05/11 20:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:50:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:50:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:50:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:51:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:51:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:52:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:52:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:52:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:52:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:52:01 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.432[deg]	[grasp_sample.py: 539]
+05/11 20:52:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:52:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:52:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:52:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:52:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:52:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:52:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:52:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:52:13 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.437[deg]	[grasp_sample.py: 539]
+05/11 20:52:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:52:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:52:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:52:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:52:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:52:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:52:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:52:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:52:25 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.437[deg]	[grasp_sample.py: 539]
+05/11 20:52:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:52:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:52:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:52:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:52:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 20:52:36 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.37s:
+  episode_total: mean=103.90s, total=103.90s, count=1, min=103904.7ms, max=103904.7ms
+  sensor_polling: mean=333.5ms, total=65.37s, count=196, min=304.4ms, max=710.1ms
+  physics_step: mean=17.3ms, total=3.40s, count=196, min=11.8ms, max=24.3ms
+  task_sampling: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms
+  task_specific_sample: mean=368.8ms, total=368.8ms, count=1, min=368.8ms, max=368.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=404.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:52:37 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:52:37 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/11 20:52:37 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes	[pipeline.py: 1323]
+05/11 20:52:37 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=4918.95s
+  House averages:
+  episode_total: mean=150.90s, total=2716.27s, count=18, min=89134.7ms, max=202157.2ms
+  sensor_polling: mean=375.5ms, total=1905.42s, count=5075, min=275.9ms, max=837.5ms
+  save_trajectories: mean=9.06s, total=117.74s, count=13, min=7364.8ms, max=10496.1ms
+  physics_step: mean=21.0ms, total=106.35s, count=5075, min=11.5ms, max=167.9ms
+  save_batch_prep: mean=3.58s, total=46.53s, count=13, min=2958.4ms, max=4798.7ms
+  task_sampling: mean=616.8ms, total=11.10s, count=18, min=292.7ms, max=3929.4ms
+  task_specific_sample: mean=435.8ms, total=7.84s, count=18, min=288.7ms, max=738.2ms
+  scene_load: mean=3.19s, total=3.19s, count=1, min=3187.9ms, max=3187.9ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1863.2ms, max=1863.2ms
+  scene_compile: mean=1.19s, total=1.19s, count=1, min=1192.5ms, max=1192.5ms
+  compile_mujoco: mean=595.7ms, total=595.7ms, count=1, min=595.7ms, max=595.7ms
+  compile_xml_load: mean=517.0ms, total=517.0ms, count=1, min=517.0ms, max=517.0ms
+  scene_init: mean=78.7ms, total=78.7ms, count=1, min=78.7ms, max=78.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  compile_aux_policy_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.0ms, max=3.2ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=27.6ms, total=27.6ms, count=1, min=27.6ms, max=27.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=454.6us, total=8.2ms, count=18, min=0.3ms, max=0.8ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 20:52:37 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 20:52:37 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4918.95s
+  Worker averages:
+  episode_total: mean=150.90s, total=2716.27s, count=18, min=89134.7ms, max=202157.2ms
+  sensor_polling: mean=375.5ms, total=1905.42s, count=5075, min=275.9ms, max=837.5ms
+  save_trajectories: mean=9.06s, total=117.74s, count=13, min=7364.8ms, max=10496.1ms
+  physics_step: mean=21.0ms, total=106.35s, count=5075, min=11.5ms, max=167.9ms
+  save_batch_prep: mean=3.58s, total=46.53s, count=13, min=2958.4ms, max=4798.7ms
+  task_sampling: mean=616.8ms, total=11.10s, count=18, min=292.7ms, max=3929.4ms
+  task_specific_sample: mean=435.8ms, total=7.84s, count=18, min=288.7ms, max=738.2ms
+  scene_load: mean=3.19s, total=3.19s, count=1, min=3187.9ms, max=3187.9ms
+  scene_env_create: mean=1.86s, total=1.86s, count=1, min=1863.2ms, max=1863.2ms
+  scene_compile: mean=1.19s, total=1.19s, count=1, min=1192.5ms, max=1192.5ms
+  compile_mujoco: mean=595.7ms, total=595.7ms, count=1, min=595.7ms, max=595.7ms
+  compile_xml_load: mean=517.0ms, total=517.0ms, count=1, min=517.0ms, max=517.0ms
+  scene_init: mean=78.7ms, total=78.7ms, count=1, min=78.7ms, max=78.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  compile_aux_policy_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  scene_randomize: mean=2.2ms, total=40.3ms, count=18, min=1.0ms, max=3.2ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=27.6ms, total=27.6ms, count=1, min=27.6ms, max=27.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=454.6us, total=8.2ms, count=18, min=0.3ms, max=0.8ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 20:52:40 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 20:52:40 INFO: Success count: 13, Total count: 15	[pipeline.py: 1491]
+05/11 20:52:40 INFO: Success rate: 86.67%	[pipeline.py: 1492]
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